Christophe Maufroy

Learn More
This paper presents a new control approach to achieve robust hopping with upright trunk in the sagittal plane. It relies on an innovative concept for trunk stabilization, called Virtual Pendulum concept, recently proposed, based on experimental finding in animal locomotion. With this concept, the trunk is stabilized by redirecting the ground reaction force(More)
Our study aims at the design and implementation of a general controller for quadruped locomotion, allowing the robot to use the whole range of quadrupedal gaits (i.e. from low speed walking to fast running). A general legged locomotion controller must integrate both posture control and rhythmic motion control and have the ability to shift continuously from(More)
A simple trunk stabilization strategy, called the virtual pendulum (VP) concept, was recently proposed based on human walking data. The implementation of this concept in a simulation model extending the bipedal spring-loaded inverted pendulum (BSLIP) model with a rigid trunk yielded stable upright walking and running patterns. In this study, a first step(More)
The humanoid robot BioBiped2 is powered by series elastic actuators (SEA) at the leg joints. As motivated by the human muscle architecture comprising monoarticular and biarticular muscles, the SEA at joint level are supported by elastic elements spanning two joints. In this study we demonstrate in simulation and in robot experiments, to what extend(More)
Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (like walking and running) and control paradigms (like flexible combination of feedforward and feedback control strategies) and reliance on stabilizing properties of compliant(More)
The dynamics of the center of mass (CoM) in the sagittal plane in humans and animals during running is well described by the spring-loaded inverted pendulum (SLIP). With appropriate parameters, SLIP running patterns are stable, and these models can recover from perturbations without the need for corrective strategies, such as the application of additional(More)
In this study, we intend to show the basis of a general legged locomotion controller with the ability to integrate both posture and rhythmic motion controls and shift continuously from one control method to the other according to the walking speed. The rhythmic motion of each leg in the sagittal plane is generated by a single leg controller which controls(More)
A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept,(More)
It is generally accepted that locomotion in animals is based on a trade-off between energy consumption and stability. However, this trade-off is the result of the interaction between complex mechanical and control systems. To gain insight into that issue, a step-by-step approach is needed. In this study, as a first step to investigate three dimensional(More)